aruco_ros repository

Repository Summary

Checkout URI https://github.com/pal-robotics/aruco_ros.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2018-04-20
Dev Status DEVELOPED
Released RELEASED

Packages

Name Version
aruco 0.2.3
aruco_msgs 0.2.3
aruco_ros 0.2.3

README

aruco_ros

Software package and ROS wrappers of the Aruco Augmented Reality marker detector library.

Features

  • High-framerate tracking of AR markers

  • Generate AR markers with given size and optimized for minimal perceptive ambiguity (when there are more markers to track)

  • Enhanced precision tracking by using boards of markers

  • ROS wrappers

Applications

  • Object pose estimation
  • Visual servoing: track object and hand at the same time

ROS API

Messages

  • aruco_ros/Marker.msg

    Header header
    uint32 id
    geometry_msgs/PoseWithCovariance pose
    float64 confidence
    
  • aruco_ros/MarkerArray.msg

    Header header
    aruco_ros/Marker[] markers
    

Test it with REEM

  • Open a REEM in simulation with a marker floating in front of the robot. This will start the stereo cameras of the robot too. Since this is only a vision test, there is nothing else in this world apart from the robot and a marker floating in front of it. An extra light source had to be added to compensate for the default darkness.
    roslaunch reem_gazebo reem_gazebo.launch world:=floating_marker

  • Launch the image_proc node to get undistorted images from the cameras of the robot.
    ROS_NAMESPACE=/stereo/right rosrun image_proc image_proc image_raw:=image

  • Start the single node which will start tracking the specified marker and will publish its pose in the camera frame
    roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right"

the frame in which the pose is refered to can be chosen with the 'ref_frame' argument. The next example forces the marker pose to
be published with respect to the robot base_link frame:
    roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right" ref_frame:=/base_link

  • Visualize the result
    rosrun image_view image_view image:=/aruco_single/result

Repository Summary

Checkout URI https://github.com/pal-robotics/aruco_ros.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-02-06
Dev Status DEVELOPED
Released RELEASED

Packages

Name Version
aruco 0.2.2
aruco_msgs 0.2.2
aruco_ros 0.2.2

README

aruco_ros

Software package and ROS wrappers of the Aruco Augmented Reality marker detector library.

Features

  • High-framerate tracking of AR markers

  • Generate AR markers with given size and optimized for minimal perceptive ambiguity (when there are more markers to track)

  • Enhanced precision tracking by using boards of markers

  • ROS wrappers

Applications

  • Object pose estimation
  • Visual servoing: track object and hand at the same time

ROS API

Messages

  • aruco_ros/Marker.msg

    Header header
    uint32 id
    geometry_msgs/PoseWithCovariance pose
    float64 confidence
    
  • aruco_ros/MarkerArray.msg

    Header header
    aruco_ros/Marker[] markers
    

Test it with REEM

  • Open a REEM in simulation with a marker floating in front of the robot. This will start the stereo cameras of the robot too. Since this is only a vision test, there is nothing else in this world apart from the robot and a marker floating in front of it. An extra light source had to be added to compensate for the default darkness.
    roslaunch reem_gazebo reem_gazebo.launch world:=floating_marker

  • Launch the image_proc node to get undistorted images from the cameras of the robot.
    ROS_NAMESPACE=/stereo/right rosrun image_proc image_proc image_raw:=image

  • Start the single node which will start tracking the specified marker and will publish its pose in the camera frame
    roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right"

the frame in which the pose is refered to can be chosen with the 'ref_frame' argument. The next example forces the marker pose to
be published with respect to the robot base_link frame:
    roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right" ref_frame:=/base_link

  • Visualize the result
    rosrun image_view image_view image:=/aruco_single/result

Repository Summary

Checkout URI https://github.com/pal-robotics/aruco_ros.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-02-06
Dev Status DEVELOPED
Released RELEASED

Packages

Name Version
aruco 0.2.2
aruco_msgs 0.2.2
aruco_ros 0.2.2

README

aruco_ros

Software package and ROS wrappers of the Aruco Augmented Reality marker detector library.

Features

  • High-framerate tracking of AR markers

  • Generate AR markers with given size and optimized for minimal perceptive ambiguity (when there are more markers to track)

  • Enhanced precision tracking by using boards of markers

  • ROS wrappers

Applications

  • Object pose estimation
  • Visual servoing: track object and hand at the same time

ROS API

Messages

  • aruco_ros/Marker.msg

    Header header
    uint32 id
    geometry_msgs/PoseWithCovariance pose
    float64 confidence
    
  • aruco_ros/MarkerArray.msg

    Header header
    aruco_ros/Marker[] markers
    

Test it with REEM

  • Open a REEM in simulation with a marker floating in front of the robot. This will start the stereo cameras of the robot too. Since this is only a vision test, there is nothing else in this world apart from the robot and a marker floating in front of it. An extra light source had to be added to compensate for the default darkness.
    roslaunch reem_gazebo reem_gazebo.launch world:=floating_marker

  • Launch the image_proc node to get undistorted images from the cameras of the robot.
    ROS_NAMESPACE=/stereo/right rosrun image_proc image_proc image_raw:=image

  • Start the single node which will start tracking the specified marker and will publish its pose in the camera frame
    roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right"

the frame in which the pose is refered to can be chosen with the 'ref_frame' argument. The next example forces the marker pose to
be published with respect to the robot base_link frame:
    roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right" ref_frame:=/base_link

  • Visualize the result
    rosrun image_view image_view image:=/aruco_single/result

Repository Summary

Checkout URI https://github.com/pal-robotics/aruco_ros.git
VCS Type git
VCS Version master
Last Updated 2016-10-18
Dev Status DEVELOPED
Released UNRELEASED

Packages

Name Version
aruco 0.0.1
aruco_msgs 0.0.1
aruco_ros 0.0.1

README

aruco_ros

Software package and ROS wrappers of the Aruco Augmented Reality marker detector library.

Features

* High-framerate tracking of AR markers * Generate AR markers with given size and optimized for minimal perceptive ambiguity (when there are more markers to track) * Enhanced precision tracking by using boards of markers * ROS wrappers

Applications

  • Object pose estimation
  • Visual servoing: track object and hand at the same time

ROS API

Messages

  • aruco_ros/Marker.msg

    Header header
    uint32 id
    geometry_msgs/PoseWithCovariance pose
    float64 confidence
    
  • aruco_ros/MarkerArray.msg

    Header header
    aruco_ros/Marker[] markers
    

Test it with REEM

  • Open a REEM in simulation with a marker floating in front of the robot. This will start the stereo cameras of the robot too. Since this is only a vision test, there is nothing else in this world apart from the robot and a marker floating in front of it. An extra light source had to be added to compensate for the default darkness.
    roslaunch reem_gazebo reem_gazebo.launch world:=floating_marker

  • Launch the image_proc node to get undistorted images from the cameras of the robot.
    ROS_NAMESPACE=/stereo/right rosrun image_proc image_proc image_raw:=image

  • Start the single node which will start tracking the specified marker and will publish its pose in the camera frame
    roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right"

the frame in which the pose is refered to can be chosen with the 'ref_frame' argument. The next example forces the marker pose to
be published with respect to the robot base_link frame:
    roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right" ref_frame:=/base_link

  • Visualize the result
    rosrun image_view image_view image:=/aruco_single/result